Title :
Inertially aided navigation system for an LHD
Author :
Scheding, S. ; Dissanayake, G. ; Nebot, E. ; Durrant-Whyte, H.
Author_Institution :
Dept. of Mech. Eng., Sydney Univ., NSW, Australia
Abstract :
This paper describes the theoretical development and experimental evaluation of a guidance system for an autonomous load, haul and dump truck (LHD) for use in underground mining. The particular contributions of this paper are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from an inertial navigation system (INS) and a bearing only laser. Results are presented using data obtained during field trials
Keywords :
automatic guided vehicles; computerised navigation; inertial navigation; mining; sensor fusion; LHD; autonomous load haul and dump truck; bearing only laser; experimental evaluation; guidance system; inertial navigation system; rough uneven terrain; theoretical development; underground mining; vehicle slip; Gold; Mechanical engineering; Mobile robots; Navigation; Optical design; Ores; Product safety; Productivity; Remotely operated vehicles; Sensor systems;
Conference_Titel :
Data Fusion Symposium, 1996. ADFS '96., First Australian
Conference_Location :
Adelaide, SA
Print_ISBN :
0-7803-3601-1
DOI :
10.1109/ADFS.1996.581085
